Effector vector

Filion, M.C., and Philips, N.C., Toxicity and immunomodulatory activity of liposomal vectors formulated with cationic lipids toward immune effector cells, Biochimica et Biophysica Acta, 1997, 1329, 345-356. 

Another valnable tool for the development of scFv-based therapentics consists of a versatile expression vector for the rapid constmction and evalnation of scFv-based fnsion proteins and bispecific scFv [63]. The vector was nsed for grafting a nnmber of biological effector princi-... 

First described in 1978, dendrimers represent a relatively new structural class of polymer that has shown good potential for use as an effector of vector-based RNAi. Dendrimers consist of a central core molecule of which stems multiple... 

None of the methods so far were able to deal with dynamics of intracellular networks. They were not able to describe the changes in the concentrations of the network intermediates as function of time upon perturbations made to the network, such as the addition of nutrients, growth factors, or drugs. This is what kinetic modelling does. A kinetic model starts from equation (2) by substituting rate equations into the rate vector. Rate equations describe the dependence of a rate of a reaction in the network with respects to its substrates, products, and effectors by the identification of the enzyme mechanism and the parameterisation of its kinetic constants. An example of a rate equation is the following two substrate ( i and 2) and two product (p and p2) reaction with the non-competitive inhibitory effect of x ... 

The operational space inertia matrix. A, like its joint space counterpart, H, is an inertial quantity which defines the dynamic relationship between certain forces exerted on a manipulator and a corresponding acceleration vector, hi the case of the joint space inertia matrix, H, the forces of interest are the actuator joint forces and torques, and the corresponding acceleration is the joint acceleration vector. On the other hand, A relates the spatial vector of faces and moments exerted at the tip a end effector and the spatial acceleration of this same point. Matrix a vector quantities which are defined with respect to the end effector are often said to be in workspace or operational space coordinates. Hence, A is called the operational space inertia matrix of a manipulator. 

X = 6x1 vector of end effector coordinates, k, k = 6x1 spatial vectors of end effector rates and accelerations, fi(x, x) = 6x1 vectOT of centripetal and Coriolis forces, and p(x) = 6x1 vectOT of gravity forces. 

A review of previous work related to the dynamic simulation of single closed chains is given in the second section of this chapter. The next three sections discuss several steps in the development of the simulation algorithm. In particular, in the third section, the equations of motion for a single chain are used to partition the joint acceleration vector into two terms, one known and one unknown. The unknown term is a function of the contact forces and moments at the tip. The end effector acceloation vector is partitioned in a similar way in the fourth section, making use of the operational space inertia matrix. In the fifth section, two classes of contacts are defined which may be used to model interactions between the end effector and other rigid bodies. Specific examples are provided. 

A similar difference expression may be developed for the end effector accelo -ation vector, x, as follows. The end effector velocity, it, is defined ... 

We may resolve both the end effector acceleration and general contact fwce vectors in the two orthogonal vector spaces of the contact The end effector acceleration vector may be written as follows ... 

For every unknown component of the contact force vector, there is a corresponding known value of relative linear or angular acceleration of the end effector in (or along) the same direction which is a result of the constraint [33]. Because the acceleration of the contacted body is known, and the components of the relative acceleration are known in the constrained directions, the components of the absolute end effector acceleration in the constrained directions are also known. That is, fOT every component of the unknown h , th is a known component of g . Also, as with any joint , the components of force in the free directions, h, are known (or their relationship to the constrained components is known), and the relative accelerations in the free directions, g, are unknown. Examples of the two classes of contacts are now discussed. 

The known and unknown components of the end effector acceleration and contact force vectors are now ... 

In the second step, the dynamic equations of the end effector are combined with the contact model to determine the unknown components of the contact force vector. The computations required for this second step differ slightly for the two classes of contacts discussed in Section 5.5, but the basic concq>tual approach is the same in either case. Once the contact face vecto is completely defined, a full solution for the closed-chain joint accelerations may be found from the corresponding equations of motion. This is the third step. In the fourth and final step, the joint accelerations and rates are integrated to find the next state joint rates and positions. The next four subsections explain each of these four steps in some detail. 

In this second step, the unknown components of the contact force vector, h, are computed. The dynamic equations of motion expressed in end effector (or operational) space are combined with the contact model at the tip to accomplish this task. As was previously noted, the equations derived for this step differ slighdy for the two classes of contacts which we have defined, but the fundamental method for finding is the same. First we consider a manipulator with a Class I contact between the tip and another rigid body. 

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